CN105700535B - A kind of modular control panel for quadrotor - Google Patents
A kind of modular control panel for quadrotor Download PDFInfo
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- CN105700535B CN105700535B CN201610041316.4A CN201610041316A CN105700535B CN 105700535 B CN105700535 B CN 105700535B CN 201610041316 A CN201610041316 A CN 201610041316A CN 105700535 B CN105700535 B CN 105700535B
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- quadrotor
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- 238000012546 transfer Methods 0.000 claims description 2
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to unmanned aerial vehicle (UAV) control technical field, it is related to a kind of modular control panel for quadrotor, power supply and regulator circuit respectively with main control module, wireless module, gyro module and motor and drive module are electrically connected to provide power supply, main control module respectively with wireless module, gyro module and motor and drive module are electrically connected, for receiving and handling the data message from wireless module and gyro module, wireless module is responsible for transmitting control information, gyro module is used to detect flight attitude, motor and drive module provide power under the pwm signal control that main control module produces for aircraft；Carry out data transmission communicating by I2C agreements between main control module and gyroscope, carry out data transmission communicating by SPI protocol between main control module and wireless module, to realize that the modular to quadrotor controls；Overall control panel is simple in structure, easy for installation, easily operated.
Description
Technical field：
The invention belongs to unmanned aerial vehicle (UAV) control technical field, is related to a kind of control panel, and particularly one kind flies suitable for quadrotor
The modular control panel of row device, it uses Modular Structure Design, and there is versatility height, easy care, parameter can adjust in real time
Feature.
Background technology：
Quadrotor is a kind of six degree of freedom vertically taking off and landing flyer, can complete to hover, fly at low speed, vertically rises
The task that the fixed wing aircraft such as drop and indoor flight can not be completed, and it is in decussation structure propeller that one kind, which has four,
Aircraft, opposite quadrotor has identical direction of rotation, compared with traditional helicopter, its with structure and
Control is simple, the accuracy of manufacture requires the advantages such as low, stability is good, weaker gyroscopic effect, thus in unmanned scouting, traffic pipe
The fields such as reason, forest fire protection, city patrol have broad prospect of application, become international research hotspot.Quadrotor
The premise for realizing stabilized flight and cruise is to adjust its flight parameter by certain way, and to the aircraft in flight course into
Row remote control.Flight parameter and telecommand determine the degree of having a smooth flight and heading of aircraft, therefore the remote control of aircraft
It is increasingly important in the control aspect of aircraft with parameter regulation mode；Further, since the control section of quadrotor is by driving
The module composition of multiple responsible difference in functionality such as dynamic model block, wireless communication module and control module, therefore between modules
Connect also more important with the convenience of dismounting.
Quadrotor of the prior art mostly has the following disadvantages：
(1) configuration aspects：Most of quadrotor employs the structure of integral type on the market, although this design side
Just volume production also complies with beauty, but cannot meet vast quadrotor professional user to body can Modularized dismounting demand, meeting
On to circuit in the case of some module damage, generally require to replace whole control circuit or drive circuit, this comes for user
Say that the cost replaced is too high, and also result in unnecessary waste；
(2) in terms of control chip:Most flight control chips use 16 and 32 lists of foreign countries on the market
Piece machine, make it that domestic flight control chip market is dispirited for a long time while cost is higher.Therefore the present invention designs a kind of new
The modular control panel suitable for quadrotor, using homemade chip as control chip, by Modular Structure Design,
The remote controler and upper computer software of outfit are remotely controlled and parameter regulation, and realization accurately controls.
The content of the invention：
It is an object of the invention to overcome shortcoming existing in the prior art, a kind of module for quadrotor is designed
Formula control panel, has not only broken monopoly position of the foreign chip in flight control panel market, but also is easy to the convenient control of repacking debugging
System.
To achieve these goals, the modular control panel agent structure bag of the present invention for quadrotor
Include main control module, wireless module, gyro module, power supply and regulator circuit, motor and drive module, power supply and regulator circuit point
It is not electrically connected with main control module, wireless module, gyro module and motor and drive module to provide power supply, main control module difference
It is electrically connected with wireless module, gyro module and motor and drive module, for receiving and handling from wireless module and gyro
The data message of instrument module, wireless module are responsible for transmitting control information, and gyro module is used to detect flight attitude, motor and drive
Dynamic model block provides power under the pwm signal control that main control module produces for aircraft；Between main control module and gyro module
Carry out data transmission communicating by I2C agreements, carry out data transmission leading to by SPI protocol between main control module and wireless module
News, to realize that the modular to quadrotor controls.
Further, 8 of the model IAP15W4K58S4 that the main control module produces for macrocrystalline Science and Technology Ltd.
Microcontroller, has lifting and aboundresources compared to 8051 traditional microcontrollers in performance；Compared to external 16 and 32
Microcontroller cost is relatively low, but performance can reach the requirement of control quadrotor smooth flight；Major function is to receive
From the angle information of gyro module and quaternary number is solved to draw current pose, and four road PWM are produced according to control algolithm
Signal control motor rotating speed with achieve the purpose that adjust quadrotor posture.
Further, the wireless module is NRF24L01 chips, which is being operated in by NORDIC productions
The monolithic wireless transceiver chip of 2.4GHz-2.5GHz ISM bands；Major function is received from the distant of exterior separate configurations
Control the instruction of device and be sent to main control module；P6.1, P6.2 of wireless module and main control module microcontroller, P6.3, P1.0,
P1.1, P4.7 pin connect.
Further, the gyro module is MPU6050, and MPU6050 is six axis motion process sensors, it is integrated with
Three axis MEMS gyro, 3 axis MEMS accelerometer, it has used gyroscope and accelerometer the ADC of three 16 respectively；It is main
It is that the analog quantity measured is converted into exportable digital quantity to want function, and passes through I2C interface is communicated with main control module；
Gyro module connects with P0.0 the and P4.6 pins of main control module microcontroller.
Further, the power supply and regulator circuit are 3.7V high magnifications model airplane battery and voltage raising and reducing circuit, the circuit
It is that the supply voltage of 3.7V is first boosted into 5V and then is depressured to again after 3.3V to obtain the standard work electricity of supply modules
Pressure.
Further, the motor and drive module are high speed hollow-cup motor and metal-oxide-semiconductor, it uses high speed drag cup electric
Machine is power set, using metal-oxide-semiconductor as power tube；P2.1, P2.2 of motor and drive module and main control module microcontroller,
P2.3, P3.7 pin connect.
Preferably, the modular control panel can connect upper computer software by USB interface, which includes
Flight attitude is shown and flight attitude controls two parts, to realize adjusting or modification quadrotor pid parameter with showing respectively
Show the function of flight attitude.
Compared with prior art, the present invention the control chip used is domestic 8 microcontrollers, cost is effectively reduced, is adopted
With the structure design pattern of modular so that single module is detachable so as to reduce maintenance cost, while is also difference
The user of demand provides multiple choices；The interface being connected with upper computer software is reserved with control panel, in order to join to flight
Number redjustment and modification and the upgrading of flight attitude algorithm；Overall control panel is simple in structure, easy for installation, easily operated.
Brief description of the drawings：
Fig. 1 is that the construction module of control circuit in the modular control panel of the present invention for quadrotor shows
It is intended to.
Fig. 2 is the circuit structure diagram of the main control module involved in the present invention.
Fig. 3 is the circuit structure diagram of gyro module of the present invention.
Fig. 4 is the circuit structure diagram of wireless module of the present invention.
Fig. 5 is the circuit structure diagram of power supply of the present invention and regulator circuit.
Fig. 6 is motor of the present invention and the circuit structure diagram of drive module.
Fig. 7 is flight attitude flow for displaying figure of the present invention.
Fig. 8 is the upper computer software main window involved in the embodiment of the present invention 3.
Fig. 9 is the 3D model controls involved in the embodiment of the present invention 3.
Figure 10 is the pid parameter regulation flow process figure involved in the embodiment of the present invention 3.
Figure 11 is the instruction code involved in the embodiment of the present invention 3.
Embodiment：
The present invention is described further by way of example and in conjunction with the accompanying drawings, but the present invention is not limited in following reality
Apply mode.
Embodiment 1：
The modular control panel agent structure for quadrotor that the present embodiment is related to includes main control module 1, nothing
Wire module 2, gyro module 3, power supply and regulator circuit 4, motor and drive module 5, power supply and regulator circuit 4 respectively with master control
Module 1, wireless module 2, gyro module 3 and motor and drive module 5 are electrically connected to provide power supply, main control module 1 respectively with
Wireless module 2, gyro module 3 and motor and drive module 5 are electrically connected, for receiving and handling from wireless module 2 and top
The data message of spiral shell instrument module 3, wireless module 2 are responsible for transmission control information, and gyro module 3 is used to detect flight attitude, electricity
Machine and drive module 5 provide power under the pwm signal control that main control module 1 produces for aircraft；Main control module 1 and gyroscope
Carry out data transmission communicating by I2C agreements between module 3, carried out between main control module 1 and wireless module 2 by SPI protocol
Data transfer communicates, to realize that the modular to quadrotor controls.
Main control module 1 involved in the present embodiment is the model IAP15W4K58S4's of macrocrystalline Science and Technology Ltd. production
8 microcontrollers (as shown in Figure 2), have very big lifting and aboundresources compared to 8051 traditional microcontrollers in performance；Compare
It is relatively low in external 16 and 32 microcontroller costs, but performance can reach wanting for control quadrotor smooth flight
Ask；Major function is to receive the angle information from gyro module 3 and solve quaternary number to draw current pose, and according to
Control algolithm produces four road pwm signal control motor speeds to achieve the purpose that to adjust quadrotor posture.
Wireless module 2 involved in the present embodiment is NRF24L01 chips (as shown in Figure 3), which given birth to by NORDIC
The monolithic wireless transceiver chip for being operated in 2.4GHz-2.5GHz ISM bands of production；Major function is received from exterior only
The instruction of the remote controler of vertical configuration is simultaneously sent to main control module 1；Its P6.1, P6.2 with microcontroller, P6.3, P1.0, P1.1,
P4.7 pins connect.
The gyro module 3 that the present embodiment is related to is MPU6050 (as shown in Figure 4), and MPU6050 is that 6 axis motion process pass
Sensor, it is integrated with 3 axis MEMS gyroscopes, 3 axis mems accelerometers, it has used three 16 respectively to gyroscope and accelerometer
The ADC of position；Major function is that the analog quantity measured is converted into exportable digital quantity, and passes through I2C interface and master control mould
Block 1 is communicated；It connects with P0.0 the and P4.6 pins of microcontroller.
Power supply and regulator circuit 4 involved in the present embodiment for 3.7V high magnifications model airplane battery and voltage raising and reducing circuit (such as
Shown in Fig. 5), which is that the supply voltage of 3.7V first is boosted to 5V and then is depressured to each mould of supply obtained after 3.3V again
The standard operating voltage of block.
Motor and drive module 5 involved in the present embodiment are high speed hollow-cup motor and metal-oxide-semiconductor (as shown in Figure 6), its
High speed hollow-cup motor is used as power set, voltage and current excessive generation amount of heat during due to motor working at high speed,
Using metal-oxide-semiconductor as power tube；It connects with P2.1, P2.2, P2.3, P3.7 pin of microcontroller.
Embodiment 2：
The present embodiment is by taking the modular control panel for quadrotor described in embodiment 1 as an example, its specific work
It is as flow：
(1) normal work of power supply and regulator circuit 4 plate modules in order to control provides suitable power supply, and control panel powers on
After initialize each module and opens interrupters, gyroscope 3 is zeroed out if calibration signal is received at this time, otherwise main control module
1 data of the reception from gyro module 3 simultaneously carry out Kalman filter, calculate inclination angle using quaternary number to obtain current four rotation
The posture of rotor aircraft, using quadrotor flight control method (the i.e. proportional-integral-differential control based on digital PID
System), by selecting control gain system is realized expected performance, the parameter of quadrotor is carried out by upper computer software
Adjust to obtain better performance；The PID formula are as follows：
Wherein Uk is total control action that system produces；ekFor current system deviation；ejFor the past value of system deviation；
ek-ek-1For current system deviation and the difference of last time system deviation；Kp is proportional control factor, can accelerate the response speed of system,
The degree of regulation of raising system, overcomes interference performance stronger, and control is timely, and transit time is short, but is deposited when transient process ends
In remaining difference；Ki is integral adjustment coefficient, reflects the power of integral action, and integral action can reduce system stability, but in mistake
Nothing left is poor at the end of transient；Kd is differential adjustment factor, reflects the power of the differential action, can improve the dynamic property of system,
The differential action can produce advanced control action, it is possible to reduce overshoot, reduces regulating time, but has amplification to make noise jamming
With；
(2) main control module 1 according to pid algorithm export 4 road pwm signals by four metal-oxide-semiconductors drive four motors work with
Quadrotor posture is adjusted, while gyro module 3 continues to detect current flight angle feed-back to main control module 1 with realization
The real-time dynamic of quadrotor posture adjusts, and wireless module 2 receives the data from exterior independently arranged remote controler simultaneously
It is sent into main control module 1 and is handled to perform corresponding action；Such as the pwm signal for exporting main control module 1 changes
Taking human as the adjustment for intervening posture, to trigger lost-control protection steady if quadrotor does not receive remote controller signal for a long time
Landing.
Embodiment 3：
The flight control panel upper computer software of quadrotor at present, the AVR single chip primarily directed to 16 and 32
The STM32 microcontrollers design of position, homemade chip IAP15W4K58S4 microcontrollers, that is, main control module 1 does not have quadrotor
Flight control panel upper computer software；Therefore devised in the present embodiment for 1 homemade chip IAP15W4K58S4 of main control module
The upper computer software of microcontroller；It is soft that the modular control panel of the quadrotor can connect host computer by USB interface
Part, realizes and adjusts or change quadrotor pid parameter with showing the function of flight attitude；The connection main control module 1
Upper computer software is shown including flight attitude and flight attitude controls two parts：
(1) flight attitude is shown (idiographic flow is as shown in Figure 7)
The specific implementation process is as follows：
Step 1：Start, open upper computer software (Main form is as shown in Figure 8).
Step 2：Initializers, including：
Load host computer interface；
Load 3D model controls (3D model controls are as shown in Figure 9)
Step 3：Serial ports of computers control parameter is set, including：
Serial port number is set
Baud rate is set
Serial port is set
Step 4：Judge whether serial ports is opened, if serial ports is opened, performs step 5, otherwise continue to execute step
Four judgement operation, until serial ports is opened；
Step 5：Measured by the data packet i.e. gyro module 3 that the modular control panel of reception quadrotor transmits
Real-time angular value (roll angle, pitch angle and the course angle of aircraft), that is, read the number that is transmitted by serial ports of slave computer
According to bag；
Step 6：Judge whether data packet verification is qualified, that is, judges whether the data in data packet are complete；If verification is closed
Lattice, then perform step 7, otherwise goes to step 4 and continues to execute judgement operation, until data packet verifies qualification；
Step 7：Decoded packet data, the flight attitude information of the transmission of main control module 1 can be obtained by decoding；
Step 8：Judge the data that the real-time angular value measured by these gyro modules 3 was read either with or without opposite last time
Change, if not changing, go to step 4, otherwise enter step nine；
Step 9：Posture shows that the real-time angular information of reading is passed to 3D model controls, 3D models by upper computer software
Control shows posture according to the value of roll angle, pitch angle and the course angle passed over, completes to show the function of flight attitude；
Step 10：Terminate.
(2) flight attitude controls
Upper computer software is (specific such as Figure 10 by adjusting the pid parameter of the modular control panel for quadrotor
It is shown), realize the gesture stability of quadrotor；It is as follows that the pid parameter adjusts process：
Step 1：Start, open upper computer software；
Step 2：Initializers, load host computer interface；
Step 3：Serial ports control parameter is set, including：
Serial port number is set
Baud rate is set
Serial port is set
Step 4：Judge whether serial ports is opened, if serial ports is opened, performs step 5, otherwise continue to execute step
Four judgement operation, until serial ports is opened；
Step 5：Judge user whether input instruction code, if user's input instruction code, performs step 6,
Otherwise the judgement operation of step 5 is continued to execute, until user input instruction code (instruction code is as shown in figure 11)；
Described instruction code implication is：
Instruction 1 --- show the value of current Kp parameters
Instruction 2 --- the value of modification Kp parameters
Instruction 3 --- show the value of current Kd parameters
Instruction 4 --- the value of modification Kd parameters
Instruction 5 --- start angles of display waveform
Instruction 6 --- terminate
Step 6：Judge whether order input by user is effective, that is, judges whether the form of order input by user is correct；
If order form it is incorrect, prompt user re-enter order and go to step 5, if order form correctly if perform
Step 7；
Step 7：Parameter is changed according to order, that is, receives the order of modification pid parameter input by user, is sentenced according to order
Disconnected user is to change which parameter, and parameter is modified as value input by user, and upper computer software will pass through serial ports handle
The information for judging to draw is sent to main control module 1, and main control module 1 changes pid parameter according to the information for judging to draw, realizes and adjusts
Or the purpose of modification quadrotor pid parameter；Revisable parameter includes Kp and Kd：
Kp is proportional control factor, can accelerate the response speed of system, improves the degree of regulation of system, overcomes interference performance
Relatively strong, control is timely, and transit time is short, but there are remaining difference when transient process ends；
Kd is differential adjustment factor, reflects the power of the differential action, can improve the dynamic property of system.The differential action can produce
Raw advanced control action, it is possible to reduce overshoot, reduces regulating time；But there is amplification to noise jamming；
Step 8：Terminate.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto；It is any
Belong to those skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in, all should
It is included within the scope of the present invention.
Claims (5)
1. a kind of modular control panel for quadrotor, it is characterised in that agent structure includes main control module, wireless
Module, gyro module, power supply and regulator circuit, motor and drive module, power supply and regulator circuit respectively with main control module, nothing
Wire module, gyro module and motor and drive module are electrically connected to provide power supply, main control module respectively with wireless module, gyro
Instrument module and motor and drive module are electrically connected, and are believed for receiving and handling from the data of wireless module and gyro module
Breath, wireless module are responsible for transmitting control information, and gyro module is used to detect flight attitude, motor and drive module in master control mould
Under the pwm signal control that block produces power is provided for aircraft；Carried out between main control module and gyro module by I2C agreements
Data transfer communicates, and carries out data transmission communicating by SPI protocol between main control module and wireless module, to realize to quadrotor
The modular control of aircraft；The power supply and regulator circuit are 3.7V high magnifications model airplane battery and voltage raising and reducing circuit；Its elder generation
The supply voltage of 3.7V is boosted into 5V and then is depressured to again after 3.3V to obtain the standard operating voltage of supply modules；Institute
State modular control panel can by USB interface connect upper computer software, the upper computer software include flight attitude show with
Flight attitude controls two parts, to realize adjusting respectively or change quadrotor pid parameter with showing the work(of flight attitude
Energy.
2. the modular control panel according to claim 1 for quadrotor, it is characterised in that the master control mould
Block is 8 microcontrollers of model IAP15W4K58S4；Major function is to receive the angle information from gyro module and solution
Go out quaternary number to draw current pose, and four road pwm signal control motor speeds are produced to reach adjusting four according to control algolithm
The purpose of rotor craft posture.
3. the modular control panel according to claim 1 for quadrotor, it is characterised in that the wireless mould
Block is NRF24L01 chips, which is the monolithic wireless transceiver chip for being operated in 2.4GHz-2.5GHz ISM bands, function
It is to receive the instruction of the remote controler from exterior separate configurations and be sent to main control module；Wireless module and main control module microcontroller
P6.1, P6.2, P6.3, P1.0, P1.1, P4.7 pin connect.
4. the modular control panel according to claim 1 for quadrotor, it is characterised in that the gyroscope
Module is MPU6050, and MPU6050 is six axis motion process sensors, it is integrated with three axis MEMS gyro, 3 axis MEMS accelerates
Degree meter, has used gyroscope and accelerometer the ADC of three 16 respectively, and function is that the analog quantity measured is converted into can be defeated
The digital quantity gone out, and communicated by I2C interface and main control module；The P0.0 of gyro module and main control module microcontroller and
P4.6 pins connect.
5. the modular control panel according to claim 1 for quadrotor, it is characterised in that the motor and
Drive module is high speed hollow-cup motor and metal-oxide-semiconductor, uses high speed hollow-cup motor to use metal-oxide-semiconductor for power set as power
Pipe；Motor and drive module connect with P2.1, P2.2, P2.3, P3.7 pin of main control module microcontroller.
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| CN201610041316.4A CN105700535B (en) | 2016-01-22 | 2016-01-22 | A kind of modular control panel for quadrotor |
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| CN107870627A (en) * | 2016-09-27 | 2018-04-03 | 重庆能源职业学院 | A kind of quadrotor of brain wave control |
| CN106919179A (en) * | 2017-04-28 | 2017-07-04 | 东华理工大学 | A kind of four-rotor aircraft control system and control method |
| CN112965428B (en) * | 2021-04-16 | 2024-03-15 | 武汉德普施科技有限公司 | Four-rotor aircraft and control circuit thereof |
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| CN102490904A (en) * | 2010-03-16 | 2012-06-13 | 北京航空航天大学 | Small multipurpose unmanned plane |
| CN104627361B (en) * | 2015-02-05 | 2018-01-05 | 深圳雷柏科技股份有限公司 | A kind of Modularized unmanned aircraft |
| CN204568055U (en) * | 2015-02-05 | 2015-08-19 | 深圳雷柏科技股份有限公司 | A kind of Modularized unmanned aircraft |
| CN204726664U (en) * | 2015-06-24 | 2015-10-28 | 零度智控（北京）智能科技有限公司 | Unmanned vehicle |
| CN105129087B (en) * | 2015-08-21 | 2017-07-25 | 田悦丰 | A kind of modular aircraft |
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